Universal-Spatial Robotic Tail Mechanism


The Universal-Spatial Robotic Tail (USRT) is a hybrid robotic manipulator that combines an elastic back bone of a continuum robot with a series serial chain of universal joints as the tail structure. These universal joints allow relative yaw and pitch between individual bodies. Individual segments are created by terminating actuation cabling at a given disk. The cables' actuation is distributed along USRT by elastic springs between disks. Two types of springs are utilized: a central compressive spring that resists bending in all directions, and a vertical extension spring that helps offset gravity. The mechanism is envision to be used onboard mobile robots to generate forces moments about its base to enhance stabilization, maneuvering, dynamic self-righting, and manipulation capabilities.

Patent Information:
For Information, Contact:
Grant Brewer
Senior Licensing Associate
Virginia Tech Intellectual Properties, Inc.
(540) 443-9218
Pinhas Ben-Tzvi
William Rone
Wael Saab
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